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GCS_MAVLink: allow Copter to disallow mavlink disarm

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This commit is contained in:
Peter Barker 2019-05-06 11:32:47 +10:00 committed by Randy Mackay
parent 84b16ea3dd
commit 75ae6b59b0
2 changed files with 8 additions and 0 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -643,6 +643,8 @@ protected:
static constexpr const float magic_force_arm_value = 2989.0f;
static constexpr const float magic_force_disarm_value = 21196.0f;
virtual bool allow_disarm() const { return true; }
void manual_override(RC_Channel *c, int16_t value_in, uint16_t offset, float scaler, const uint32_t tnow, bool reversed = false);
private:

6
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -3976,6 +3976,12 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
if (!AP::arming().is_armed()) {
return MAV_RESULT_ACCEPTED;
}
// allow vehicle to disallow disarm. Copter does this if
// the vehicle isn't considered landed.
if (!allow_disarm() &&
!is_equal(packet.param2, magic_force_disarm_value)) {
return MAV_RESULT_FAILED;
}
if (AP::arming().disarm()) {
return MAV_RESULT_ACCEPTED;
}